diff --git a/src/safe_cmd_alg_node.cpp b/src/safe_cmd_alg_node.cpp index 6a2e6d4d5132a9ad3b793692d7dcb18b3f2b9db3..624bfc2655a8d10b69970360feb84410a6b2d801 100644 --- a/src/safe_cmd_alg_node.cpp +++ b/src/safe_cmd_alg_node.cpp @@ -174,7 +174,7 @@ float SafeCmdAlgNode::compute_max_velocity_(const sensor_msgs::LaserScan::ConstP ROS_DEBUG_STREAM("compute_max_velocity frame: " << scan->header.frame_id << " min range: " << min_range << " at " << min_pos << " of " << scan->ranges.size()); - if (min_range >= min_dist_) + if (min_range >= min_dist_ && min_range > 0.02) max_velocity = min_range / collision_time_; return max_velocity;